A nonlinear proximal point algorithm is proposed in the setting of adaptive control. Based on the Bregman generalized distance induced by a convex function, forward nonorthogonal projections provide a more general approach to classic optimization algorithms. Convergence theorems are provided for the application of the Bregman algorithm to the adaptive control of both linear systems and nonlinear control-affine systems. It is shown that the proposed algorithm is particularly suited for adaptive control applications because it outperforms the gradient algorithm for on-line parameter estimation. Simulations on an autonomous underwater vehicle and a robotic manipulator show the benefits of the proposed adaptive control scheme when compared to the classic ones.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A Bregman nonlinear proximal point algorithm for adaptive control


    Beteiligte:
    Balestrino, A. (Autor:in) / Crisostomi, E. (Autor:in) / Grammatico, S. (Autor:in) / Caiti, A. (Autor:in)


    Erscheinungsdatum :

    2011


    Format / Umfang :

    6 Seiten, 3 Bilder, 2 Tabellen, 18 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Datenträger


    Sprache :

    Englisch






    Primal and Dual Bregman Methods with Application to Optical Nanoscopy

    Brune, C. / Sawatzky, A. / Burger, M. | British Library Online Contents | 2011


    A Watermarking Scheme Based on Compressive Sensing and Bregman Iteration

    Chen, Guoming / Chen, Qiang / Zhang, Dong et al. | British Library Online Contents | 2013


    A Watermarking Scheme based on Compressive Sensing and Bregman Iteration

    Chen, G. / Chen, Q. / Zhang, D. et al. | British Library Online Contents | 2013